Matablog has some Yo La Tengo radio session mp3s up for the occasion of YLT's upcoming tour (hopefully dates to be added include something convenient for me). These sound like user friendly shows:

A little bit Storytellers, a little bit Unplugged, with a soupcon of their famously varied Hanukkah shows, it will feature the band playing an almost-acoustic set of songs from their entire catalog, with stories about their life as a band, and an encouraged back-and-forth with the audience.